CN209823899U - Steam generator hydroecium environment image acquisition system - Google Patents
Steam generator hydroecium environment image acquisition system Download PDFInfo
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- CN209823899U CN209823899U CN201822159123.6U CN201822159123U CN209823899U CN 209823899 U CN209823899 U CN 209823899U CN 201822159123 U CN201822159123 U CN 201822159123U CN 209823899 U CN209823899 U CN 209823899U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Abstract
The utility model belongs to the technical field of the nondestructive test and the maintenance of steam generator heat-transfer pipe and similar indirect heating equipment, concretely relates to steam generator hydroecium environment image acquisition system. The system can collect images inside the steam generator when the heat transfer pipe is inspected, so that the overhauling device avoids collision on the steam generator when moving, and can also perform precision control through video images, and the movement precision of the inspection device is more accurate. The method is characterized in that: the system comprises an environment camera, a positioning camera, a switch and an industrial computer, wherein the camera transmits a video signal to an upper computer through a network switch, so that two functions of image acquisition and video image precision control in a water chamber of the steam generator are realized.
Description
Technical Field
The utility model belongs to the technical field of the nondestructive test and the maintenance of steam generator heat-transfer pipe and similar indirect heating equipment, concretely relates to steam generator hydroecium environment image acquisition system.
Background
In order to ensure the safe and reliable operation of the steam generator of the key equipment of the nuclear power plant, the heat transfer pipe of the nuclear power plant must be periodically overhauled. The general method is that the helium mass spectrometer leak detection, eddy current inspection and other measures are used, the inspection device is used for carrying out in-service inspection on the heat transfer pipe regularly, and technical measures such as pipe blockage and the like are adopted in time for the heat transfer pipe with the standard exceeding defect to be retired, so that the safe operation of the nuclear power station can be ensured. The nuclear power station has nuclear reactor types such as a high-temperature gas-cooled reactor and the like and reactor types such as a pressurized water reactor and the like, the structural forms have great difference, the operating environments are quite different, and the light in the water chamber of the steam generator is less, so that the operation of the positioning robot is more limited, if the space size of the water chamber of the steam generator of the high-temperature gas-cooled reactor is far smaller than that of the water chamber of the pressurized water reactor nuclear power station, the size of the equipment is greatly limited; the water chamber is also internally provided with a throttling component which can limit the maintenance equipment; and the water chamber of the pressurized water reactor is of a hemispherical structure, so that the space of an included angle between the tube plate and the edge of the spherical surface can also have great influence on the movement of the inspection device, and the phenomenon of unreachable edge is also generated.
SUMMERY OF THE UTILITY MODEL
In order to automatically inspect the heat transfer tubes of the steam generator, the inspection device carries an inspection tool to the heat transfer tubes. The special structure limitation of the steam generator, the precision of the transmission mechanism of the checking device and the error generated in the assembly and use process of the checking device cannot be completely eliminated, so that a certain positioning precision problem exists when the heat transfer pipe checking operation is carried out. Therefore, the system for acquiring the environment image of the water chamber of the steam generator can acquire the image inside the steam generator when the heat transfer pipe is inspected, so that the steam generator is prevented from being collided when the overhauling device moves, and the precision control can be performed through the video image, so that the movement precision of the inspecting device is more accurate.
The utility model discloses a realize like this:
a steam generator water chamber environment image acquisition system comprises an environment camera, a positioning camera, a switch and an industrial computer, wherein the camera transmits a video signal to an upper position through a network switch; the environment camera and the positioning camera structure comprise a window, an annular light source, a focal length lens, a lens adapter and a camera body; the camera body adopts a high-definition camera, the lamplight source system adopts uniformly distributed annular light sources, and the light sources are scattered under the tube plate; the environment camera and the positioning camera have two functions of digital zooming and optical zooming; wherein, the digital zoom uses the acquisition circuit of the image signal; the other is optical zoom, namely, the optical zoom is realized by adjusting a focal length lens; the camera is for reserving the installation space of annular light source, connects with the camera lens crossover sub, and annular light source and window pass through heat conduction silica gel and are connected with camera lens crossover sub upper end.
The environment camera collects the environment image in the water chamber and the overall state of the maintenance equipment.
The environment camera can be installed on the inspection device, and a cloud platform and a sucker can be additionally installed to enable the environment camera to be adsorbed on the inner wall of the water chamber of the steam generator.
The main control software on the industrial computer controls the image visual field of the environmental camera and the movement of the inspection device.
The environment camera and the positioning camera are both high-definition network digital cameras.
The utility model has the advantages that:
1. the steam generator water chamber environment image acquisition system mainly comprises an environment camera 1, a positioning camera 2, a switch and an industrial computer, wherein the camera transmits a video signal to an upper computer through a network switch, so that two functions of steam generator water chamber internal image acquisition and video image precision control are realized.
2. The environment camera 1 and the positioning camera 2 mainly comprise a window 7, an annular light source 8, a focus lens 9, a lens conversion joint 10 and a camera body 11. Uniformly distributed annular light sources 8 are adopted, and the light sources are scattered right below the tube plate. The environment camera and the positioning camera have two functions of digital zooming and optical zooming. The camera is provided with an annular light source to provide a stable light source for the water chamber.
3. The environmental camera can be installed on the inspection device 3, and also can be additionally provided with a cloud platform and a sucker so as to be adsorbed on the inner wall 4 of the water chamber of the steam generator. The environmental camera can observe the conditions in the water chamber and the motion state of the inspection device in real time, and avoid the collision of the inspection device with the inner wall or the throttling assembly and other structures
4. Because the judgment of the positioning accuracy requires the positioning of the relative positions of the camera 2 and the inspection device 3, the positioning camera 2 is installed on the inspection device 3, and the image data signal of the camera is integrated by an intra-island box and transmitted to an extra-island control system through a network optical fiber and displayed; the main control software on the industrial computer outside the nuclear island can control the image view of the environmental camera and the movement of the inspection device 3;
5. the control of the motion precision is realized by the checking device 3 through the positioning camera 2, before the checking device 3 starts formal detection, the origin coordinate should be firstly calibrated on the checking device 3 to ensure the precision of the subsequent detection work of the checking device, and the calibration of the origin coordinate can be confirmed through the environment camera 1. If deviation exists, fine adjustment can be carried out by combining the positioning camera.
6. Because the installation position of the camera and the water chamber of the steam generator are relatively fixed, the area needing image recognition in the image acquired by the camera is also fixed relative to the area of the whole image, and the area needing image recognition is intercepted in the acquired image; preprocessing operations such as graying, binaryzation, filtering and the like are carried out on the intercepted area; and then identifying a circle-like polygonal area which meets the requirement in the binary image by using a circle finding characteristic identification algorithm, performing circle fitting on the identified polygonal circle-like area by using a fitting algorithm to obtain the circle center coordinate and the radius of the tube plate hole area, and finally comparing the circle center coordinate and the radius with the image center to obtain the difference value between the circle center of the tube plate hole and the image center, namely the center positioning deviation of the inspection device. If the deviation is smaller than the precision control set value, the checking device 3 successfully reaches the preset coordinate, otherwise, the detected relative position coordinate is converted into the motion parameter of the motor and fed back to the upper computer for compensation.
Drawings
Fig. 1 is a diagram of a water chamber environment image acquisition system of the present invention;
FIG. 2 is a schematic diagram of the environment and positioning camera of the present invention
Fig. 3 is a video image accuracy control flow chart of the present invention;
FIG. 4 is the camera diagram of the high temperature gas cooled reactor water chamber environment image acquisition system of the utility model
FIG. 5 is a view of the high temperature gas cooled reactor water chamber positioning camera accuracy control chart of the present invention
Wherein: 1. the environment camera 2, the positioning camera 3, the inspection device 4, the inner wall of the water chamber 5, the heat transfer pipe 6, the throttling component 7, the window 7, the annular light source 8, the focal length lens 9, the lens adapter 10, the camera body 11 and the suction gun device 12.
Detailed Description
The invention is further described below with reference to the drawings and examples.
As shown in fig. 1 to 5, the system for collecting the environmental image of the water chamber of the steam generator comprises an environmental camera 1, a positioning camera 2, a switch and an industrial computer, wherein the camera transmits a video signal to an upper computer through a network switch, so that two functions of collecting the internal image of the water chamber of the steam generator and controlling the precision of the video image are realized. The internal image acquisition of the water chamber mainly acquires the internal environmental image of the water chamber and the overall state of the maintenance equipment through an environmental camera, so that the collision between the inspection device 3 and the internal structure of the steam generator, such as the inner wall 4 of the water chamber, a heat transfer pipe 5 or a throttling assembly 6, is avoided; the video image precision control is to collect images through the positioning camera 2, calculate the deviation between the theoretical position and the actual position by using the machine vision technology, calculate the compensation difference value by software, and adjust the difference value by a motor and other motion execution mechanisms, thereby achieving the purpose of reducing the system error.
The environment camera 1 and the positioning camera 2 mainly comprise a window 7, an annular light source 8, a focus lens 9, a lens conversion joint 10 and a camera body 11. The camera body 11 adopts a high-definition camera, good illumination conditions are necessary conditions for obtaining clear images, during inspection of a heat transfer pipe of the steam generator, in order to overcome the problem of insufficient light in a water chamber, image acquisition system equipment provides enough illumination, a light source system adopts an annular light source 8 which is uniformly distributed, and a light source is scattered under a pipe plate. The environment camera and the positioning camera have two functions of digital zooming and optical zooming. The digital zooming uses an image signal acquisition circuit to independently amplify a certain region in the acquired whole image, and because an interpolation algorithm is used in the amplification process, the definition of the image is not as good as that of the image in an unamplified state; the other is optical zoom, i.e. by adjusting the focal length of the lens 9, and optical zooming causes the size of the angle of view and the magnification of the camera to change. When the inspection device is in operation, the abnormal conditions are observed, the abnormal area can be enlarged for further observation. The camera is for reserving the installation space of annular light source 8, connects with camera lens crossover sub 10, and annular light source 8 and window 7 are connected with camera lens crossover sub 10 upper end through heat conduction silica gel. The environmental camera 1 can be mounted on the inspection device 3, and can also be attached with a holder and a suction cup to be adsorbed on the inner wall 4 of the water chamber of the steam generator. The main control software on the industrial computer outside the nuclear island can control the image view of the environmental camera and the movement of the inspection device 3; image data signals are integrated through an intra-island box, transmitted to an extra-island control system through network optical fibers and displayed, and the extra-island control system can control the camera focal length lens 9 to achieve image zooming, so that the requirement of full-range video monitoring of a water chamber of the steam generator is met.
The checking device 3 realizes the control of the motion precision through the positioning camera 2, before the checking device 3 starts formal detection, the checking device 3 is firstly calibrated with the origin coordinate to ensure the precision of the subsequent detection work of the checking device, and the calibration of the origin coordinate can be confirmed through the environment camera 1. If deviation exists, fine adjustment can be carried out by combining the positioning camera.
Moving to a hole to be detected according to set coordinate position parameters, capturing an image of a target hole area by a positioning camera 2, preprocessing the acquired image, positioning an original image shot by the camera 2, fixing the area needing image recognition in the image acquired by the camera relative to the area of the whole image because the installation position of the camera and a water chamber of a steam generator are relatively fixed, and intercepting the area needing image recognition in the acquired image; and carrying out preprocessing operations such as graying, binaryzation, filtering and the like on the intercepted area, removing redundant information on the image, and obtaining a binary image required by a machine vision algorithm. Firstly, the colors in the picture need to be removed, only the gray information is reserved so as to carry out gray processing and analysis, and a gray map is obtained by adopting a weighted average method. Traversing all pixel points in the image by setting a threshold, and resetting the gray value of all the pixel points to be the maximum value when the gray value is higher than the threshold; all points where the grey value is below the threshold value have their grey value reset to minimum. Therefore, the pixel points in the whole image only have the maximum gray value and the minimum gray value, so that the image has a black-white extreme contrast effect, and the image segmentation of the required area is completed. Identifying a circle-like polygonal region meeting the requirement in the binary image by using a circle finding characteristic identification algorithm, and extracting the tube plate hole region meeting the requirement from the binary image according to the geometrical characteristics of the tube plate hole, such as roundness, area and the like; and performing circle fitting on the polygonal circle-like region obtained by identification through a fitting algorithm to obtain the circle center coordinate and radius of the tube plate hole region, and finally comparing the circle center coordinate and radius with the image center to obtain the difference value between the circle center of the tube plate hole and the image center, namely the center positioning deviation of the inspection device. If the deviation is smaller than the precision control set value, the checking device 3 successfully reaches the preset coordinate, otherwise, the detected relative position coordinate is converted into the motion parameter of the motor and fed back to the upper computer for compensation.
The environment camera 1 and the positioning camera 2 are high-definition network digital cameras, and a local area network is established among the network switch, the upper computer and the NVR for data transmission and storage. The upper computer software receives the digital video code stream transmitted by the network camera equipment through the Ethernet, and realizes real-time code stream preview, picture capture, video file playback and download, parameter configuration and the like.
The working principle of the utility model is as follows:
when the water chamber environment image acquisition system works, only the control and display computer is placed outside the island, the rest equipment is in the island, and the two parts adopt the network optical fiber for data transmission. Video signals are input to the video optical terminal in the island through the coaxial cable; the video optical transceiver is responsible for integrating the collected signals, converting the integrated signals into optical signals and transmitting the optical signals to the outside of the island through optical fibers, and meanwhile, the video optical transceiver in the island can also receive control signals of a pan-tilt, a zoom and the like transmitted by the optical transceiver outside the island and transmit the signals to the corresponding camera.
Taking helium mass spectrometer leak detection of a heat transfer tube of a steam generator of a high temperature gas cooled reactor as an example, as shown in fig. 4, an inspection device is installed on a flange of a water chamber of the steam generator, and an environmental camera is used for observing whether an abnormal condition exists in the water chamber and whether equipment moves to have a risk of colliding with a structural component in the water chamber. According to the fixed position of the camera and the structural size of the water chamber of the evaporator, when a specific area needs to be observed, the optical zoom is firstly used after the position of the area is locked, the shooting area is enlarged to the maximum state, and the size of the shot breadth is reduced. And then, the image is continuously amplified by using the digital amplification function, the number of pixel points on the image in the specific area is increased, and the image on the screen is very clear. After the preparation work is done, the original coordinate calibration is started, and theoretically, the origin of coordinates of the inspection device and the geometric center of the water chamber of the steam generator are completely coincided. In practice, due to structural errors of the water chamber of the steam generator and to movement deviations of the checking means themselves, they do not coincide perfectly. In order to improve the positioning precision of the inspection device, before the inspection device starts formal detection, the calibration of the origin coordinate of the inspection device is firstly carried out to ensure the precision of the subsequent detection work of the inspection device, and the calibration of the origin coordinate can realize centering through an environment camera.
For improving leak hunting efficiency, the inspection device adopts double suction gun structural design, once only reveals the inspection to two diaphragm orifices, then the image acquisition system need calculate the central positioning deviation of suction gun subassembly and the angular deviation of suction gun subassembly self simultaneously.
After capturing an image of a target hole area by a positioning camera, intercepting an acquired initial picture, extracting an area to be recognized, performing machine vision processing on the area to be recognized, and calculating to obtain coordinate positions of a hole #1 and a hole #2 (as shown in fig. 5), wherein the coordinate position of the hole #1 is compared with the center of the image to obtain a positioning center deviation of a suction gun assembly, a connecting line of the centers of the hole #1 and the hole #2 is compared with the horizontal direction of the image to obtain a positioning angle deviation of the suction gun assembly, if the center deviation and the angle deviation of the suction gun assembly are smaller than set values, an inspection device successfully reaches a preset coordinate, otherwise, the detected relative position coordinate is converted into a motion parameter of a motor, and the motion parameter is fed back to main control software to perform center point deviation and.
The present invention is not limited to the above-described embodiments, and various changes can be made without departing from the spirit and scope of the present invention by those skilled in the art. The prior art can be adopted for the content which is not described in detail in the specification of the present invention.
Claims (5)
1. The utility model provides a steam generator hydroecium environment image acquisition system which characterized in that: the system comprises an environment camera (1), a positioning camera (2), a switch and an industrial computer, wherein the camera transmits a video signal to the industrial computer through the network switch; the environment camera (1) and the positioning camera (2) structurally comprise a window (7), an annular light source (8), a focal length lens (9), a lens adapter (10) and a camera body (11); the camera body (11) adopts a high-definition camera, the environment camera (1) and the positioning camera (2) adopt uniformly distributed annular light sources (8), and the light sources are scattered under the tube plate; the environment camera and the positioning camera have two functions of digital zooming and optical zooming; wherein, the digital zoom uses the acquisition circuit of the image signal; the other is optical zoom, namely realized by adjusting a focal length lens (9); the camera is for reserving the installation space of annular light source (8), connects with camera lens crossover sub (10), and annular light source (8) and window (7) are connected with camera lens crossover sub (10) upper end through heat conduction silica gel.
2. The system for capturing environmental images of a water chamber of a steam generator according to claim 1, further comprising: the environmental camera (1) collects environmental images in the water chamber and the overall state of the maintenance equipment.
3. The system for capturing environmental images of a water chamber of a steam generator according to claim 1, further comprising: the environment camera (1) can be arranged on the inspection device (3), and also can be additionally provided with a holder and a sucker to be adsorbed on the inner wall (4) of the water chamber of the steam generator.
4. The system for capturing images of the environment of the water chamber of the steam generator according to claim 3, further comprising: the industrial computer controls the image view of the environmental camera and the movement of the inspection device (3).
5. The system for capturing environmental images of a water chamber of a steam generator according to claim 1, further comprising: the environment camera (1) and the positioning camera (2) are both high-definition network digital cameras.
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| CN201822159123.6U CN209823899U (en) | 2018-12-21 | 2018-12-21 | Steam generator hydroecium environment image acquisition system |
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| CN201822159123.6U CN209823899U (en) | 2018-12-21 | 2018-12-21 | Steam generator hydroecium environment image acquisition system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109451283A (en) * | 2018-12-21 | 2019-03-08 | 核动力运行研究所 | A kind of steam generator water chamber ambient image acquisition system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109451283A (en) * | 2018-12-21 | 2019-03-08 | 核动力运行研究所 | A kind of steam generator water chamber ambient image acquisition system |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
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| TR01 | Transfer of patent right |
Effective date of registration: 20200807 Address after: 430223 No. 1021 National Road, East Lake New Technology Development Zone, Wuhan, Hubei Co-patentee after: CHINA NUCLEAR POWER OPERATION TECHNOLOGY Corp.,Ltd. Patentee after: RESEARCH INSTITUTE OF NUCLEAR POWER OPERATION Co-patentee after: HUANENG SHANDONG SHIDAOBAY NUCLEAR POWER Co.,Ltd. Address before: 430223 No. 1021 National Road, East Lake New Technology Development Zone, Wuhan, Hubei Co-patentee before: CHINA NUCLEAR POWER OPERATION TECHNOLOGY Corp.,Ltd. Patentee before: RESEARCH INSTITUTE OF NUCLEAR POWER OPERATION |
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| TR01 | Transfer of patent right |